Papers
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Papers should be 4-6 pages in length, optionally accompanied by a video.
All submissions will be reviewed for relevance to the topic of the
workshop as well as scientific merit. Survey papers are welcome! Please
follow the IEEE RAS Manuscript Preparation Guidelines and submit your pdf
file to gianni.borghesan@mech.kuleuven.be, t@kroe.org, orandreamaria.zanchettin@polimi.it .
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Motivation
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The new generation of robots, such as redundant manipulators, mobile
manipulators and eventually humanoids, is challenging the robotics
community to provide robust, reliable and fast motion planning and control
algorithms to better integrate such robots in highly unstructured
environments. These new robots are expected to promptly react to
unpredictable modifications of the environment, as we, humans, do.
Integration of planning and control capabilities into a unique holistic
and real-time framework is then the challenge to be address in current and
future robotic research. A relatively new and lively research trend
focused on such hyper-redundant robotic systems relies on declarative and
constraint-based task and motion specification. The availability of
sophisticated solvers and real-time capable numerical algorithms seems to
open the door to a new paradigm in motion planning and control. Most of
these approaches are also essential for autonomous execution of complex
tasks requiring reactive on-line motion generation to enable-for
instance-safe robot motions during interactions with humans. As many of
the approaches are separated from each other, a
unifying holistic concept is still missing. It especially requires
systematic combinations of higher level constraints enabling cognitive
capabilities and underlying lower-level constraints for fast robot
reactions. This workshop is intended to encourage discussion between
robotic researchers actively working in constraint-based motion planning
and control, covering various aspects of this problem.
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